I was able to extract the data from the disc by painstakingly reading 100 MB chunks of the disc in dd, ejecting and reinserting the disc when I/O errors occurred, then joining the chunks together to an ISO using cat.
I can perfectly browse the ISO in Finder, but when I try to open it in MakeMKV, it complains that the volume key is missing and can't decrypt it.
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MakeMKV v1.12.0 darwin(x64-release) started The program can't find any usable optical drives. Using direct disc access mode Saved AACS dump file as [...]/Library/MakeMKV/MKB20_v61_X-Men_Apocalypse_BE17.tgz The volume key is unknown for this disc - video can't be decrypted Failed to open disc